User manual

AREXX Engineering & JM3 Engineering
Version: 0.9 Nov 9th, 2014 page: 5
2. Asuro Architecture
2.1 Asuro Robot and Asuro xTend Block Diagram
The Asuro Robot and the Asuro xTend are working as a Master/Slave-Configuration. The Asuro
Robot is the Slave and the Asuro xTend the Master. To control the Asuro and to solve tasks with
the available sensors can be split into the following parts:
1) Master
The Demo program or your application software will run here. Messages or data can be
display on the LC-Display and the optional sensor module (e.g. Compass/Gyro) can be used by
the algorithms.
The Master evaluates the sensor signals and the data from the Slave. He also calculates the
new set points, e.g. for speed or direction and sent to the Slave on the I2C bus.
2) Slave
The Slave controls the motors on the robot and regulates the speed in accordance to the set
point. Both wheel speeds, the battery voltage and the state of the tactile sensors (switches on
the Robot) will be measured and sent to the Master.
Micro Controller
ATmega8
tactile sensors
(6 switches)
odometrie
motor
(left)
motor
(right)
LEDs
Status & back
lights
line follower
(photo transistor
+ IR LED)
battery
monitoring
Programming IF
(2400 Baud IR)
Micro Controller
ATXmega32
Display 2 x8
(contrast adj.)
Power supply
3.3V
illumination
control for
Display
Free ADC/GPIO
( 2 x)
4 x status LEDs
3 x keys
line follower
I2C switch
UART1
Programming IF
(USB -MCP2200)
Asuro Robot
Asuro xTend
Sharp FET
switches and
ADC inputs
Asuro Module
extension IF
Asuro Connector
replication /
extension
I2C – Robot Bus
I2C – xTend Bus
Display IF
(4-Bit data)
Asuro Connector
extension
2.2 Asuro Robot
The Asuro Robot has got a small micro controller and simple tactile sensors (switches) and a IR
transmitter diode with 2 photo transistors for the line follower and controls the two motors (PID).
The speed sensors are counting pluses which are proportional to the wheel speed.
The power supply and the Asuro Bus are routed to the Asuro xTend board. The I2C bus connects
the Asuro xTend with the Asuro Robot to exchange data in both directions.